The invention discloses a sensing robot path planning method combined with obstacle detection, and belongs to the technical field of intelligent traffic, and the method comprises the steps: dividing a road traffic network into a plurality of road traffic subareas according to the congestion characteristics of the road traffic network; configuring a plurality of sensing robots for the plurality of road traffic partitions; performing patrol path planning according to the road network distribution of the plurality of road traffic zones to obtain a plurality of standard patrol paths; with the plurality of standard patrol paths as constraints, in the process of scheduling the plurality of sensing robots to detect traffic obstacles in the plurality of road traffic zones, dynamically updating the plurality of standard patrol paths based on a detection result to obtain a plurality of updated patrol paths; and pre-constructing a path integration cloud, and loading the plurality of updated patrol paths to the path integration cloud by the plurality of sensing robots. The technical problem that in the prior art, path planning lacks dynamic updating, traffic obstacle changes cannot be coped with in real time, and consequently the patrol efficiency of a sensing robot is low is solved.
本发明公开了结合障碍物检测的感知机器人路径规划方法,属于智能交通技术领域,其中方法包括:根据道路交通网络的拥堵特征将道路交通网络划分为多个道路交通分区;对多个道路交通分区配置多个感知机器人;根据多个道路交通分区的路网分布进行巡逻路径规划,获得多个标准巡逻路径;以多个标准巡逻路径为约束,调度多个感知机器人进行多个道路交通分区的交通障碍物检测过程中,基于检测结果进行多个标准巡逻路径的动态更新,获得多个更新巡逻路径;预构建路径集成云端,多个感知机器人将多个更新巡逻路径加载至路径集成云端。本申请解决了现有技术中路径规划缺乏动态更新,无法实时应对交通障碍变化,导致感知机器人巡逻效率低下的技术问题。
Perception robot path planning method combined with obstacle detection
结合障碍物检测的感知机器人路径规划方法
2025-04-11
Patent
Electronic Resource
Chinese
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